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I am using the Turtlebot3 with ROS2 Foxy and I can't read the Roll and Pitch, just the Yaw. I'm using this launch: roslaunch turtlebot3_bringup turtlebot3_robot.launch
and the result is:
Which is the same result presented at the documentation
I tested, my opencr itself and it really has the gyroscope to read the 3-axis.
So, what I have to do to have access to the Roll and Pitch?
How to read Roll and Pitch
You obtain these from the IMU sensor. The ros driver typically publishes on a topic named something like /imu/data. By reading the raw sensor data, you are getting the values in the IMU frame. You may need to apply a transformation if you want the values in some other frame (like world or map.)
Thank you, this is exactly what I was looking for. Just to clarify for future users, the topic is named /imu
The information you want is in the /odom pose.pose.orientation quaternion. There are transforms available to convert the quaternion representation to 3D Euler roll, pitch, yaw. (pay attention to ROS standard order of operations for Euler, ZYX, IIRC)
For simulation you, you would expect 2D flat world would have only yaw, with roll and pitch = 0. In the case shown, only the quaternion z (and w) are non-zero, which is typical for pure rotation about z-axis
This is what I first tried and didn't work. I'm using the real robot and not simulating. As showed on the image, the /odom topic doesn't have the Roll and Pitch information (what can be confirmed converting from quaternion to euler), just the yaw.
The quaternion has pitch and roll, it's just they are both 0.0 Now, if the problem is the internal node calculating odometry message is assuming 2D and not calculating pitch and roll, where you are going over inclined terrain and expect roll and pitch, then you need 3D estimation and you should confirm what the TB3 code is doing for odometry. If it assumes 2D, then either you either need to update TB code to do 3D pose estimation, or set up an external kalman filter combining odometry and IMU data as suggested above.
Asked: 2023-06-15 20:36:57 -0500
Seen: 82 times
Last updated: Jun 16 '23
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